Dependencies:   X_NUCLEO_COMMON ST_INTERFACES

Dependents:   Stepper_Matlab_Control SunTracker_BLE Stepper_Matlab_Control MemsMotorControl ... more

Fork of X_NUCLEO_IHM01A1 by ST Expansion SW Team

Motor Control Library

Introduction

Library to handle the X-NUCLEO-IHM01A1 Motor Control Expansion Board based on the the L6474 component.

Daisy-Chain Configuration

This board can be stacked up to three times so that the L6474 components will be connected in daisy-chain configuration. For this purpose, some resistors must be correctly connected on the boards as depicted here below:

Platform compatibility

• NUCLEO boards have been tested with the default configuration provided by the HelloWorld_IHM01A1 example.

• LPCXpresso11U68 board has been tested with the following patch:
  • to connect with a wire from the LPCX’s D4 pin to the IHM01A1’s D9 pin;
  • to initialize the pwm PinName variable with D4 rather than D9.

• FRDM-K64F board has been tested with the following patch:
  • to connect with a wire from the FRDM’s D4 pin to the IHM01A1’s D8 pin;
  • to initialize the standby_reset PinName variable with D4 rather than D8.

Example Applications

• HelloWorld_IHM01A1
• HelloWorld_IHM01A1_2Motors
• MotorControl_IHM01A1
• MemsMotorControl
• MemsMotorControl_IHM01A1_IKS01A2

--- a/Components/l6474/l6474_class.h	Wed Nov 18 18:41:55 2015 +0000
+++ b/Components/l6474/l6474_class.h	Thu Nov 19 10:56:34 2015 +0000
@@ -108,9 +108,6 @@
          *--------------------------------------------------------------------*/
         flagInterruptCallback = 0;
         errorHandlerCallback = 0;
-        spiPreemtionByIsr = 0;
-        isrFlag = 0;
-        //devicePrm = 0;
         deviceInstance = numberOfDevices;
         numberOfDevices++;
         memset(spiTxBursts, 0, L6474_CMD_ARG_MAX_NB_BYTES * MAX_NUMBER_OF_DEVICES * sizeof(uint8_t));
@@ -655,11 +652,11 @@
      *------------------------------------------------------------------------*/
     void (*flagInterruptCallback)(void);
     void (*errorHandlerCallback)(uint16_t error);
-    bool spiPreemtionByIsr;
-    bool isrFlag;
     deviceParams_t devicePrm;
     uint8_t deviceInstance;
     static uint8_t numberOfDevices;
+    static bool spiPreemtionByIsr;
+    static bool isrFlag;
     static uint8_t spiTxBursts[L6474_CMD_ARG_MAX_NB_BYTES][MAX_NUMBER_OF_DEVICES];
     static uint8_t spiRxBursts[L6474_CMD_ARG_MAX_NB_BYTES][MAX_NUMBER_OF_DEVICES];
 };